cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()
rosbuild_find_ros_package(dynamic_reconfigure)
include(${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake)
#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()
gencfg()

find_package(Eigen REQUIRED)
include_directories(${EIGEN_INCLUDE_DIRS})
add_definitions(${EIGEN_DEFINITIONS})

#include_directories(${PCL_INCLUDE_DIRS})
#link_directories(${PCL_LIBRARY_DIRS})
#add_definitions(${PCL_DEFINITIONS})

#add_executable (iterative_closest_point iterative_closest_point.cpp)
#target_link_libraries (iterative_closest_point ${PCL_LIBRARIES})



#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
rosbuild_add_executable(cyphy_ekf_pole src/cyphy_ekf_pole_cam_imu.cpp src/main.cpp src/jac.c src/line_model.c)
#rosbuild_link_boost (icp_pcl system filesystem)
#target_link_libraries(example ${PROJECT_NAME})
